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The Death Frontier doesn't have random battles, it's much like the Phantom Ship in that monsters appear on the map with you and making any sort of contact with them initiates battle. Monsters respawn again after each battle (except for Cactus, which requires a screen change). This area is recommended for power-leveling, and in particular is good for Miranda's D-Level (especially if you've neglected using her or Shana because of their lack of Additions), as Sandworms often enough appear alone and can take a lot of abuse. By equipping her with the Arrow of Force from Ulara and the Wargod's Sash from turning in Stardust, you can vastly increase the SP she gains with each shot. Combined with the Dancer's Shoes, Speed Up, Speed Down, and Magic Signet Stone to maximize her speed (without losing SP per hit) and minimize the Sand Worm's actions, she can easily reap SP in the thousands from a single battle if she is the only one attacking, though it is advisable to finish the fight as soon as the Speed Down and Magic Signet Stone lapse, even if it means attacking with someone else.